Algoritm de Acordare a Regulatoarelor în Sisteme de Reglare în Cascadă cu Trei Contururi cu Inerţie şi Timp Mort

Abstract

A tuning algorithm of linear controllers P, PI, PID in multiple-loop feedback control systems with three contours is proposed in this paper. The control objects consists from three subprocesses, which are described by dynamical models with inertia (fourth order) and time delay. The controllers P, PI, PID in the inertial contours 1 and 2 and in the external contour are tuning using the maximal stability degree method. The tuning process of linear controllers P, PI, PID consists from fourth stage: in the first stage it was made the tuning of P, PI controllers in the first internal contour, in the second stage it was made the tuning of P, PI controllers in the second internal contour, at the third stage it was made the identification of the transfer process of the first and second internal contour, after identification it was obtained the equivalent transfer function, in the fourth stage for this equivalent transfer function it was tuning the P, PI and PID controllers using the maximal stability method in the external contour. The obtained results were compared with the results obtained for the case of tuning P, PI, PID controllers using Ziegler Nichols method.